The invention discloses a parking path planning method and device, a vehicle and a storage medium. The method comprises steps of determining a starting point and a target point of a parking path on apre-established parking scene coordinate system; under the condition that the target point is valid, determining whether a path from the starting point to the target point exists in a current state point of the target vehicle or not by utilizing an RS geometric algorithm; when the path from the starting point to the target point exists, performing collision detection and cost calculation of each planned parking path; when the non-collision parking path does not exist, determining an alternative state point set of the target vehicle by utilizing a hybrid A star algorithm; and performing collision detection and cost calculation of each alternative state point in an alternative state point set till output cost is the lowest, no collision occurs, and a state point of the target point is reached. The method is advantaged in that a hybrid A star algorithm is utilized to splice the RS geometric algorithm in the parking path search process, the calculation speed of path search is improved, andreal-time performance of parking path search is ensured.

    本发明公开了一种泊车路径规划方法、装置、车辆和存储介质。该方法包括:在预先建立的泊车场景坐标系上,确定泊车路径的起始点和目标点;在目标点有效的情况下,利用RS几何算法确定目标车辆的当前状态点是否存在起始点到目标点的路径;在存在起始点到目标点的路径时,对规划的每个泊车路径进行碰撞检测及成本计算;在未存在不碰撞的泊车路径时,利用混合A星算法确定目标车辆的备选状态点集合;对备选状态点集合中每个备选状态点进行碰撞检测及成本计算,直至输出成本最低,不碰撞,以及到达目标点的状态点为止。本发明实施例利用混合A星算法在泊车路径搜索过程中,拼接RS几何算法,提高了路径搜索的计算速度,保证了泊车路径搜索的实时性。


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    Title :

    Parking path planning method and device, vehicle and storage medium


    Additional title:

    一种泊车路径规划方法、装置、车辆和存储介质


    Contributors:
    LI CHAO (author) / DU JIANYU (author) / LIU BIN (author)

    Publication date :

    2020-06-19


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G01S RADIO DIRECTION-FINDING , Funkpeilung



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